I think The Wind Waker by far. I was actually interested in what was going to happen to them, and I wanted to learn more about them. I liked pretty much every character in the game...even the Rito postman was likeable! Link was awesome, and so were all of the main characters. The side characters were good too! I really liked that in TWW, that I honestly liked all of the characters pretty much.

TP would be second, if not merely because of Midna, possibly the best non Ganondorf/Zelda/Link character in the series. But there are other good characters too.

What do you think?

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My Zelda rankings and why